ZX-T Series

Cat. No. I199E-EN-01

Delta Robot IP69K

USER´S MANUAL

Washdown Delta RobotCR_UGD4_HD Series

CONTENTS CR_UGD4_HDUser's Manual

T-1

Safety Instructions

1. Attention S-1

2. Explanation of warnings and notes S-1

3. Safety information S-2

3.1 General S-2

3.2 Qualifiedpersonnel S-2

3.3 Liability S-2

3.4 Installation and operating conditions S-2

3.5 Residual risks S-23.5.1 Release device S-33.5.2 Transport S-33.5.3 Assembly and start-up S-33.5.4 Maintenance and repair S-33.5.5 System integrator S-4

Chapter 1 Introduction

1. Introduction 1-1

1.1 Description of the robot 1-1

1.2 Type code explanation 1-1

2. Identification 1-1

3. Part names 1-2

Chapter 2 Model overview

1. Overview 2-1

Chapter 3 Installation

1. Unpacking 3-1

1.1 Unpacking the shipping box 3-1

1.2 Check the damage 3-1

1.3 Lifting and transportation 3-1

2. Mounting the robot 3-2

3. Mounting the motors, cabling and gearbox housing 3-3

3.1 Mounting the motors 3-3

3.2 Mounting the gearbox housing into the body and connecting the cables 3-4

3.3 Mounting the covers 3-8

CONTENTS CR_UGD4_HDUser's Manual

T-2

4. Assembling the secondary arms 3-9

4.1 Make an assembly 3-9

4.2 Mount the arm assembly on the robot 3-10

5. Mounting the rotational axis on the cardan joint 3-11

6. Calibration 3-12

Chapter 4 Maintenance

1. Periodic maintenance 4-1

1.1 Springs 4-1

1.2 Ball bearing cups 4-2

1.3 Rotational axis 4-2

2. Cleaning the robot 4-4

3. Spare parts 4-4

Chapter 5 Robot settings

1. Kinematics 5-1

2. Workspace 5-2

3. Software limits 5-3

Chapter 6 Specifications

1. Basicspecifications 6-1

1.1 Cycle time 6-2

2. External view and dimensions 6-3

3. Designspecifications 6-4

3.1 Occupation area of robot 6-4

3.2 Gripper interface 6-4

3.3 Software design 6-53.3.1 Dimensions and limits 6-6

Contents

1. Attention S-1

2. Explanation of warnings and notes S-1

3. Safety information S-2

3.1 General S-2

3.2 Qualified personnel S-2

3.3 Liability S-2

3.4 Installation and operating conditions S-2

3.5 Residual risks S-2

3.5.1 Release device S-33.5.2 Transport S-33.5.3 Assembly and start-up S-33.5.4 Maintenance and repair S-33.5.5 System integrator S-4

Safety Instructions

Sa

fety Instruc

tions

S-1

1. AttentionInformation in this document can change without prior notice.

OMRON EUROPE B.V. cannot be hold responsible for any damage to the environment, to the machine or to the functioning of the machine occurred by errors or missing data in the illustrations, drawing or specifications.

No part of this manual and added documentation may be copied, reproduced or translated into another language without prior written approval.

Read and understand the material contained in this user's manual before you work on the CR_UGD4_HD robot for the first time. This user's manual is supposed to help you use the capabilities of the CR_UGD4_HD robot safely and properly.

2. Explanation of warnings and notesThis manual uses the following safety alert symbols and signal words to provide safety instructions that must be observed and to describe handling precautions, prohibited actions, and compulsory actions. Make sure you understand the meaning of each symbol and signal word and then read this manual.

DANGER THIS INDICATES AN IMMEDIATELy HAzARDOUS SITUATION WHICH, If NOT AVOIDED, WILL RESULT IN DEATH OR SERIOUS INjURy.

WARNING THIS INDICATES A POTENTIALLy HAzARDOUS SITUATION WHICH, If NOT AVOIDED, COULD RESULT IN DEATH OR SERIOUS INjURy.

NOTE Explains the key point in the operation in a simple and clear manner.

Sa

fety Instruc

tions

S-2

3. Safety information3.1 General

This ´3. Safety information´ subchapter contains information regarding working with the CR_UGD4_HD robot. Qualified personnel working with the CR_UGD4_HD robot must have read and understood the CR_UGD4_HD robot documentation, including the safety information chapter.

3.2 Qualified personnel

These are people who, due there specialist training, knowledge and experience, and their familiarization with the relevant standards, are able to assess the work to be carried out and detect any potential hazards.

3.3 Liability

The CR_UGD4_HD robot is build using state-of-the-art technology and in accordance with the recognized safety rules. Nevertheless, misuse of the CR_UGD4_HD robot may constitute a risk to life and limb or cause damage to the CR_UGD4_HD robot and to other material property.

3.4 Installation and operating conditions

you may only use the components in accordance with the installation and operating conditions described in the documentation. The operating conditions at the installation location must be checked and maintained in accordance with the required technical data. Within the meaning of the Machinery Directive the CR_UGD4_HD robot is an incomplete machine. Commissioning is prohibited until the usable machine or system in which the CR_UGD4_HD robot is installed meets all requirements of the Machine directive 2006/42/EC.

for the CR_UGD4_HD robot you have to observe the following standards, directives and regulations:

• ENISO10218-1:2011Robotsandroboticdevices-Safetyrequirementsforindustrialrobots-Part1:Robots.• ENISO10218-1:2011Robotsandroboticdevices-Safetyrequirementsforindustrialrobots-Part2:Robotsystems and integration.

3.5 Residual risks

Safety and health risks arising from the robot mechanics have been reduced by means of safety technology and design engineering. However a residual risk remains, since the robot mechanics will be move by an automated control system.

The following are typical warnings concerning residual risks which cannot be assigned to a specific action. The expression of safety labels is identical to the safety information.

Sa

fety Instruc

tions

S-3

3.5.1 Release device

The robot mechanics are not supplied with an release switch to control the brakes of the motors.

WARNING • MOuNtaRElEaSESwItchONthEMachINESOthEaRMS(MOtOR)OfthEROBOtcOulDBEMaNually MOVED. • MOvINgaNaxISwIthaNIMPROPERlywORkINgRElEaSESwItchcaNDaMagEthEMOtORBRakE.thIS CAN RESULT IN PERSONAL INjURy AND MATERIAL DAMAGE. • BEfORERElEaSINgthEBRakE,yOuhavEtOBESuREthatNOONEISINthEhazaRDaREaOfthEROBOt.

3.5.2 Transport

The prescribed transport position of the robot must be observed. Transportation must be carried out in accordance with the transportation instructions or assembly instructions of the robot.

WARNING • ONlyuSEauthORIzEDhaNDlINgEQuIPMENtwIthaSuffIcIENtlOaD-BEaRINgcaPacItytOtRaNSPORt THE ROBOT. • wEaRSuItaBlEPROtEctIvEclOthINgIfNEcESSaRy.

3.5.3 Assembly and start-up

Before starting up systems and devices for the first time, a check must be carried out to ensure that the system and devices are completed and operational, that they can be operated safely and that any damage is detected.

The valid national or regional work safety regulations must be observed for this check. The correct functioning of all safety circuits must also be tested.

The following tests must be carried out before start-up and recommissioning. It must be ensured that:

• therobotiscorrectlyinstalledandfastenedinaccordancewiththespecificationsintheassemblyinstructions.• therearenoforeignbodiesorloosepartsontherobot.• allrequiredsafetyequipmentiscorrectlyinstalledandoperational.

WARNING • awRONgINStallEDROBOtMaythROwOffhISaRMS. • wEaRSuItaBlEPROtEctIvEclOthINgIfNEcESSaRy.

3.5.4 Maintenance and repair

After maintenance and repair work, checks must be carried out to ensure the required safety level. The valid national or regional work safety regulations must be observed for this check. The correct functioning of all safety circuits must also be tested.

The purpose of maintenance and repair work is to ensure that the system is kept original or, in the event of a fault, to return the system to an operational state. Repair work includes troubleshooting in addition to the actual repair itself.

The following safety measures must be carried out when working on the robot:

• Switchofthemachine(system)wheretherobotisbuilt-in(e.g.withapadlock)topreventitfrombeingswitchedon again• labelthemachine(system)withasignindicationthatworkisinprogress.thissignmustremaininplace,even during temporary interruptions to the work.• theemergencystopfromthemachine(system)mustremainactive.Ifsafetyfunctionsorsafeguardsaredeactivated during maintenance or repair work, they must be reactivated immediately after the work is completed.

Sa

fety Instruc

tions

S-4

3.5.5 System integrator

The robot is safely integrated into a complete system by the system integrator. The system integrator is responsible for the following tasks:

• Installingtherobot• Performingriskassessment• Implementingtherequiredsafetyfunctionsandsafequards• Issuingthedeclarationofconformity• attachingthecEmark• creatingtheoperatinginstructionsforthecompletesystem

Chapter 1 Introduction

Contents

1. Introduction 1-1

1.1 Description of the robot 1-1

1.2 Type code explanation 1-1

2. Identification 1-1

3. Part names 1-2

1-1

1

Introd

uctio

n

1. IntroductionCongratulations with the purchase of your high speed Delta robot IP69K. This is a high speed pick and place robot which uses state-of-the-art stainless steel materials and the latest servo drive technology to be put in use in the most demanding pick and place applications.

This manual should be read before the commissioning of the robot. By mechanical engineers in the design phase during the integration of the robot in the machine and by software engineers to check the performance envelope of the robot.

This manual describes the main versions of the CR_UGD4_HD robot, and all options. Where applicable check the appropriate data for your robot type, the type can be found on the identification tag of the robot.

1.1 Description of the robotThe CR_UGD4_HD Delta robot is a high speed pick and place robot which uses state-of-the-art stainless steel materials and the latest servo drive technology to be put in use in the most demanding pick and place applications. The robot is designedasa3-axis(optional4throtationalaxis)Deltakinematicsystem.

Characteristics of the robot:• Requiresverylowmaintenance• 3+1(rotationalaxisoptional)degreesoffreedom• compactdesignformountinginamachine• lownoiselevel<68dB(a)• EquippedwithspecialDeltarobotgearboxes• IP69kprotection

1.2 Type code explanationcR_ugD4_R_hD:3+1axes(withrotationalaxis),1100mmworkingrange,max.payload:2kgcR_ugD4_NR_hD:3axes(withoutrotationalaxis),1100mmworkingrange,max.payload:2kg

2. IdentificationOn the robot base plate an identification tag is mounted, important data on this plate:• Robottype• totalweightoftherobot• yearofproduction• Serialnumber,importantfororderingspareparts

1-2

Introd

uctio

n

1 3. Part names

Rotational axis

Cover

Cable entry tube

Secondary arm

CR_UGD4_HD

TCP (Tool Center Point)

Primary arm

The CR_UGD4_HD robot consists of three radially placed axis which give the TCP freedom to move in three directions,x,yandz.anoptionalfourthaxiscantakecareoftherotation,Rz,ofthetcP.

Optionally the robot is equipped with an extra servo motor for the rotational axis.

Chapter 2 Model overview

Contents

1. Overview 2-1

2

Mo

de

l ove

rview

2-1

1. OverviewThe CR_UGD4_HD has a working range of 1100 mm. The specifications are given in the below figure, if specifications differ for models, for instance with- or without rotation axis, it is indicated in the specification list. The Delta robot is delivered standard with IP69K protection.

CR_UGD4_HD (1100 mm)

915

250

150

670

1100

NOTE Note that the rotation servo motor, on the top of the robot, is optional.

Chapter 3 Installation

Contents

1. Unpacking 3-1

1.1 Unpacking the shipping box 3-1

1.2 Check the damage 3-1

1.3 Lifting and transportation 3-1

2. Mounting the robot 3-2

3. Mounting the motors, cabling and gearbox housing 3-3

3.1 Mounting the motors 3-3

3.2 Mounting the gearbox housing into the body and connecting the cables 3-4

3.3 Mounting the covers 3-8

4. Assembling the secondary arms 3-9

4.1 Make an assembly 3-9

4.2 Mount the arm assembly on the robot 3-10

5. Mounting the rotational axis on the cardan joint 3-11

6. Calibration 3-12

3

Installa

tion

3-1

1. Unpacking1.1 Unpacking the shipping boxThe robot comes in a special shipping box.

The following step must be carried out to remove the cover from the box:• unscrewthescrewsfromthecoverofthewoodenbox• Nowremovethecover

1.2 Check the damagefirst take out the individual components from the package and check that everything is complete according to the following list:• 1xrotationalaxis(incaseofcR_ugD4_R_hDmodel)• 1xtcP-toolcenterPoint(incaseofcR_ugD4_NR_hDmodel)• 6xsecondaryarms• 12xsprings• 1xtopcover

Check all the components and the robot for transportation damage.

1.3 Lifting and transportationBefore the robot is lifted, it must be ensured that it is free from obstructions.Remove all the screws where the robot is mounted with in the box.The robot must be lifted and transported by using lifting tackle or a forklift truck. Two lifting straps has to be attached into two eyebolts that are screwed into the baseplate. The lifting straps has to be long enough and must be routed in such a way that the robot is not damaged.

WARNING • thEROBOtMaytIltDuRINgtRaNSPORtatION. • aDDItIONalSafEguaRDINgMEaSuREMuStBEtakEN. • wEaRSuItaBlEPROtEctIvEclOthINgIfNEcESSaRy. • whENuSINgafORklIfttRuck,DRIvEExtREMElySlOwlyaNDcaREfully.

3

Installa

tion

3-2

2. Mounting the robotThe mounting surface for the robot must be machined and of an appropriate quality. It’s also possible to use a levelling element to align the robot.Three M16 bolts are needed to mounting the robot to the frame, exact bolt length depends on frame layout. The tightening torque of a M16 6.8 bolt is 140Nm.

The below figure shows the mounting pattern from the robot.

680

120º

120º

16,53 x

3 x 120º mounting pattern

NOTE It is advisable to put one motor of the robot in line with the direction of the transport belt to make programming easier.

3

Installa

tion

3-3

3. Mounting the motors, cabling and gearbox housing3.1 Mounting the motorsWhen your robot is delivered without motors, you have to mount them by yourself.

Before mounting the servo motors you have to be sure that the clamping hub screw is in the right position. Please see also the below picture.• unscrewtheblindstop• Besurethattheheadfromtheclampinghubscrewisinlinewiththehole

1

2

No. Description

1 Blind stop

2 Clamping hub screw

Now that the clamping hub screws is in the right position, you can install the motor.

Please be sure that the connectors from the motor are correctly positioned.

1

2

No. Description

1 Blind stop hole

2 4 x Allen bolt with washer

3

Installa

tion

3-4

• Putadropofloctite243onthe4allenbolts• Nowmountthe4allenboltswithwashers• tightentheclampinghubscrewwiththespecifiedtorque• Mounttheblindstop

3.2 Mounting the gearbox housing into the body and connecting the cablesfirst of all we have to feed the servo cables from the electrical cabinet through the cable feed through the pipe in the body(seebelowpicture).Pleasedon’tforgettoputahosearoundthecablestokeepwateroutsidethebody.

1

2

No. Description

1 Cable feed through pipe

2 Servo cables

The body is executed with 3 compartments. Every compartment has his own number, starting from 1 till 3. The gearbox housing and the nut are also numbered. Please mount all the parts with the same numbers, that means: Compartment 1 with gearbox housing 1 and nut 1.

We will start with assembling of compartment 1:• Puttheplasticringinthechamber• Putthenutwithnumber1inthechamber

3

Installa

tion

3-5

2

1

No. Description

1 Plastic ring

2 Nut

Now feed the servo cables for motor 1 through the hole from the nut, plastic ring and housing.

Now attach the cables to the motor.Now the servo cables are attached, we have to mount the gearbox housing into the body. Please be sure that the rubber O-ring(seebelowpicture)isproperlyinstalledintothegrooveAs you can see below, there is a dowel pin welded in the ring from the body. The gearbox housing has a cutout for this pin. These have to be mounted into each other.

3

1

2

3

Installa

tion

3-6

No. Description

1 O-ring

2 Cutout

3 Dowel pin

Nowyouhavetoputtheplasticringontheflangeandmountthenutonthescrew-thread(seebelowpicture).firsttryto fasten the nut as far as you can with your hand.

1

3

2

No. Description

1 Plastic ring

2 Screw-thread

3 Nut

When you can’t tighten the nut with your hand anymore, you have to use the special tool which is delivered with your robot(seebelowpicture).

1

No. Description

1 Hole for torque wrench 1/2 inch

When the nut is tightened with your hand you have to tighten it with an torque wrench and the special tool as shown below(seenextpicture).thetighteningtorqueis:180Nm.

3

Installa

tion

3-7

1

2

No. Description

1 Torque wrench

2 Special tool

Repeat these actions also for the other 2 compartments.

Now your motors and gearbox housings are mounted.

3

Installa

tion

3-8

3.3 Mounting the coversfor mounting the cover you first have to adjust the mounting bracket.

• Mountthebracketonthe2thread-ends(seebelowpicture)

1

2

No. Description

1 Thread-end

2 Bracket

• adjusttheheightfromthebrackettobetween26-29cm(seebelowpicture)

• Nowlockthe4nutssothebracketismounted• Nowmountthecoverontherobotwiththespecialbolt,pleasebesurethattheedgeoftherobotbodyistotally covered

3

Installa

tion

3-9

4. Assembling the secondary arms4.1 Make an assemblyBefore mounting the secondary arms on the robot, we have to pre-assemble them as shown on the below figure, so that we get an arm assembly.

3

2

1

No. Description

1 Sanitary cup holder incl. ball bearing cup

2 Spring package

3 Secondary arm

Repeat this action for the other 2 arm sets.

WARNING • INcORREctMOuNtEDSPRINgScaNjuMPaway. • wEaRSuItaBlEPROtEctIvEclOthINgaNDSafEtyglaSSES. • NEvERPullthESPRINgSfuRthERaPaRtthaNNEcESSaRywhENMOuNtINgthEaRMaSSEMBlyONthE PRIMARy ARM OR TCP BALL jOINTS. • REPlacESPRINgSaftEROvERStREtchINg.

3

Installa

tion

3-10

4.2 Mount the arm assembly on the robotfor mounting, pull a secondary arm with his cup holder over the ball joint of the primary arm. Now pull the arms apart against the force of the spring in order to pull the second arm over the second ball joint of the primary arm.thenrepeatthisactionforthetcP(seebelowpicture).

1

No. Description

1 TCP - Tool Center Point

Repeat this action for the other 2 secondary arm assembly's.Now your robot mechanic is completely installed.

3

Installa

tion

3-11

5. Mounting the rotational axis on the cardan jointthissectionisapplicableonlytothecR_ugD4_R_hDmodel(withrotationalaxis).

Please perform the following steps first.• Extendtherotationalaxistoitsentirelength,thenretractthesameandcheckwhetheritiseasytooperateorwhether some resistance occurs

NOTE alightirregularresistanceisnormalandcausedbythemanufacturingtolerancesofthetubes.theaxisisruninduringthefirst150hours of operation. In case of problems, please check the axis for damage or contact your OMRON representative.

1

2

No. Description

1 Hole for M5 mounting bolt

2 Rotational axis

Assembling to the Cardan joint.

1

2

3

Installa

tion

3-12

No. Description

1 Cardan joint

2 Top connector rotational axis

• Putadropofloctite243onthesuppliedM5boltwithwasher• Nowattachthetopconnectortothecardanjoint• tightentheM5hexagonboltwith9Nm

The rotational axis is now mounted.

6. CalibrationNo every robot that is delivered is calibrated.Ifyouwanttocalibratetherobotbyyourself,acalibrationkitwithaspecialtoolisavailable(showninthebelowpicture).The calibration set can be ordered as CR_ART.1173.

No. Description

1 Calibration tool

WARNING • calIBRatINgthEROBOtMuStBEcaRRIEDOutByQualIfIEDPROgRaMMINgPERSONNElONly,aSthIS REQuIRESaNExcEllENtlEvElOfkNOwlEDgEOfthEcONtROlSyStEM. • whENcaRRyINgOutthEhOMINgyOuRSElf,thISMuStBEcaRRIEDOutExactlyINthEwayaNDthE ORDER THAT THEy ARE DESCRIBED.

Chapter 4 Maintenance

Contents

1. Periodic maintenance 4-1

1.1 Springs 4-1

1.2 Ball bearing cups 4-2

1.3 Rotational axis 4-2

2. Cleaning the robot 4-4

3. Spare parts 4-4

4

Ma

intena

nce

4-1

1. Periodic maintenanceBefore working on the robot, please be ensured that the machine where the robot is built in, is totally switched off.

DANGER • SwItchOffthEMachINE(SyStEM)whEREthEROBOtISBuIltIN(E.g.wIthaPaDlOck)tOPREvENtIt fROM BEING SWITCHED ON AGAIN. • laBElthEMachINE(SyStEM)wIthaSIgNINDIcatIONthatwORkISINPROgRESS.thISSIgNMuSt REMAIN IN PLACE, EVEN DURING TEMPORARy INTERRUPTIONS TO THE WORK. • thEEMERgENcyStOPfROMthEMachINE(SyStEM)MuStREMaINactIvE.IfSafEtyfuNctIONSOR SAfEGUARDS ARE DEACTIVATED DURING MAINTENANCE OR REPAIR WORK, THEy MUST BE REACTIVATED IMMEDIATELy AfTER THE WORK IS COMPLETED.

1.1 SpringsHow to maintain the springs:• thespringshastobereplacedevery3800workinghoursoronceayear• whentherobotisfallapart,checkthespringsondamages• OnlyusespringsdeliveredbyOMRON,otherwisetheguaranteewillexpire• Replacespringsafteroverstretching• forspareparts,seeSection 3 Spare parts in this chapter

WARNING • INcORREctMOuNtEDSPRINgScaNjuMPaway. • wEaRSuItaBlEPROtEctIvEclOthINgaNDSafEtyglaSSES. • NEvERPullthESPRINgSfuRthERaPaRtthaNNEcESSaRywhENMOuNtINgthEaRMaSSEMBlyONthE PRIMARy ARM OR TCP BALL jOINTS.

How to disassemble the springs:• Disassemblethesecondaryarmsfromtherobot• Replacethesprings• forre-assemblingthesecondaryarms,seeSection 4 Assembling the secondary arms in Chapter 3

4

Ma

intena

nce

4-2

1.2 Ball bearing cupsThe ball bearing cups has the same lifetime as the springs. We recommend to exchange these at the same time as the springs.

How to maintain the ball bearing cups:• theballbearingcupshastobereplacedevery3800workinghoursoronceayear• whentheballbearingcupsmakesqueakingnoises,takeofthesecondaryarmassembly’sandcleanthecupswith pressed air• Do not lubricate the ball bearing cups!

for instructions to replace the ball bearing cups, see below picture:

1

No. Description

1 M5 bolt

• ScrewanM5boltinthebacksidefromthecupholder• Nowtheballbearingcupwillcomeout

1.3 Rotational axisThe plain bearings on the rotational axis wear with time so that backlash starts to occur on the rotational axis. How fast the plain bearings become worn depends strongly on the following factors:• theworkingpath• thepayload• thespeedoftherobot• therotationactions

When do I have to exchange the plain bearings?• Ifthereisalotofplayontherotationalaxis• Every3000workinghoursoronceayear

for instructions to replace the plain bearings, see below picture:

1

2

3

4

Ma

intena

nce

4-3

No. Description

1 1 x M5 bolt with washer

2 Plain bearing

3 Lower rotation tube

• unscrewtheM5boltwithwasherfromtheupperplainbearing• Removethelowerrotationtube

1

2

No. Description

1 2 x M5 bolt with washer

2 Lower plain bearing

• unscrewthetwoM5boltswithwasherandtakeoftheoldlowerandupperplainbearing• Nowputthenewupperplainbearingonthetubes• Putbackthelowerplainbearingandthe2xM5boltwithwasher• tightenthe2xM5bolt• NowputbackthelowerrotationtubeandmountitwiththeM5boltwithwasher• tightentheM5bolt

WARNING • PlaINBEaRINgShaStOBEMOuNtEDvERycaREfully. • wRONgMOuNtEDPlaINBEaRINgSMayDaMagE. • ExtENDthEROtatIONalaxIStOItSENtIRElENgth,thENREtRactthESaMEaNDchEckwhEthERItIS EASy TO OPERATE OR WHETHER SOME RESISTANCE OCCURS.

4

Ma

intena

nce

4-4

2. Cleaning the robotClean the robot by washing with soft cloth or sponge. Use soap or mild detergent and warm water followed by clear water rinse.for oil and grease stains use alcohol with soft cloth.

3. Spare parts

Description OMRON Part No.

Steel ball bearing package CR_ART.1009

Plain bearing CR_ART.1078

TCP - Tool Center Point CR_ART.1166

Ball bearing cups CR_ART.1169

Calibration tool CR_ART.1173

Primary arm set CR_ART.1189

Spring package CR_ART.1190

Secondary arm assembly CR_ART.1191

hingerollers(24pieces) CR_ART.1194

Rotational axis CR_ART.1196

Lower side rotational axis CR_ART.1199

Upper side rotational axis CR_ART.1201

Spline part rotational axis CR_ART.1203

Secondary round arm CR_ART.1206

Assembly key motor house CR_ART.1208

Chapter 5 Robot settings

Contents

1. Kinematics 5-1

2. Workspace 5-2

3. Software limits 5-3

5

Rob

ot se

ttings

5-1

1. KinematicsThe kinematics parameters for the CR_UGD4_HD robot are shown below. Set these parameters corresponding to the controller settings.

WARNING If THE KINEMATICS PARAMETERS ARE NOT SET PROPERLy, THIS MAy CAUSE THE ROBOT TO MALfUNCTION. SO, BE SURE TO SET THESE PARAMETERS CORRECTLy.

Lm

(mm)

Rf

Lf

Rm

Kinematics parameters

Rf: 200 mm Distance (radius) from the center of the fixed frame to the motor of the axisRm: 50 mm Distance (radius) from the center of the moving frame to the connection point of Link 2Lf: 320 mm Length of Link 1Lm: 850 mm Length of Link 2

5

Rob

ot se

ttings

5-2

2. WorkspaceThe workspace parameters for the CR_UGD4_HD robot are shown below. Set these parameters corresponding to the controller settings.

WARNING If THE WORKSPACE PARAMETERS ARE NOT SET PROPERLy, THIS MAy CAUSE THE ROBOT TO MALfUNCTION. SO, BE SURE TO SET THESE PARAMETERS CORRECTLy.

Zu

Rcy

Hcy

Hco

Rcy

Rco

Workspace parameters

Zu: -616 mm Distance from the Z-axis origin position Rcy: 550 mm Radius of the cylinder Hcy: 250 mm Height of the cylinder Rco: 336 mm Radius of the frustum cone of underside Hco: 150 mm Height of the frustum cone

5

Rob

ot se

ttings

5-3

3. Software limitsThe software limits for the CR_UGD4_HD robot are shown below.

WARNING If THE α-, β- OR γ-axISSOftlIMItISSEtINcORREctly,thEaRMMaycOllIDEwIththEROBOtBaSEORBaSEPREPARED By THE USER, CAUSING BREAKAGE. SO, BE SURE TO SET THE SOfT LIMITS CORRECTLy.

Minus directionsoft limit [-47°]

Plus directionsoft limit [99°]

Chapter 6 Specifications

Contents

1. Basic specifications 6-1

1.1 Cycle time 6-2

2. External view and dimensions 6-3

3. Design specifications 6-4

3.1 Occupation area of robot 6-4

3.2 Gripper interface 6-4

3.3 Software design 6-5

3.3.1 Dimensions and limits 6-6

6

Spe

cific

atio

ns

6-1

1. Basic specifications

Robot model CR_UDG4_R_HD CR_UDG4_NR_HD

Working volume

x,yaxis Stroke Ø1100mm

z axis Stroke 250mm(max.Ø1100mm)/400mm(centerØ670mm)

θaxis Rotation range±180°(defaultsetting,itcanbe

changed)

Servo motorArm 1, 2, 3 1000W

Rotational axis 4 750W

Repeatability*1x,y,zaxis ±0.2mm

θaxis ±0.3°

Maximum through-put*2 150 CPM*4

Maximum payload 2kg

θaxistolerablemomentofinertia*3 According to the servo motor

Travel limit Soft limit

Noise level <68dB(a)

Ambient temperature 5ºC to 45ºC

Relative humidity Max. 90%

Protection class IP69K

Weight 100kg

*1: This is the value at a constant ambient temperature. *2: With 0.1kg payload. When reciprocating 305mm in horizontal and 25mm in vertical directions. *3: There are limits to acceleration coefficient settings. *4: CPM: Cycle per minutes. Check the note 2 for the cycle definition.

The encoder, power and brake cables are included with the Delta robot. The last numbers of the Delta robot model code indicate the length of the cables:

Model Cable length

CR_UGD4_xx_HD3 3 m

CR_UGD4_xx_HD5 5 m

CR_UGD4_xx_HD10 10 m

CR_UGD4_xx_HD15 15 m

CR_UGD4_xx_HD20 20 m

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1.1 Cycle time

Z1

Y

Z2

P&P path Payload Cycle time

25x305x25mm(z1xyxz2)

0.1 kg 0.40 s

0.5 kg 0.55 s

1 kg 0.60 s

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2. External view and dimensions

20 H7 31,5STC

45°

4,20 104 ×M5-6H 7

5H7 10

8,57 22,18G1/8-6H 19,46

Gripper dimensions

915

250

150

55°

680

120º

120º

16,53 x

125

535

180

60

30º

1100

535

30

180

125

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3. Design specifications3.1 Occupation area of robotIf the robot is integrated into the machine it must be considered what the reach is of all robot parts to prevent collision with other parts in the machine.

When the TCP moves to its outer positions, the primary and secondary arms can rise above the baseplate, take care that no mechanical obstructions are in the areas indicated in the below figure.

125

535

180

60

30º

1100

WARNING If MECHANICAL OBSTRUCTIONS ARE IN THE INDICATED AREA, THE ROBOT OR THE OTHER MACHINE PARTS COULD BE DAMAGED.

3.2 Gripper interfaceThe below picture shows you the gripper connection sizes according to ISO 9409-1-A31,5. The gripper connection sizes for the robot with or without rotational axis are the same.

20 H7 31,5STC

45°

4,20 104 ×M5-6H 7

5H7 10

8,57 22,18G1/8-6H 19,46

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The design of the gripper that is mounted under the robot have great influence on the performance of the robot. Both the weight of the gripper and the distance of the center of gravity of the gripper to the TCP base point have negative influence on the final performance of the robot.

If you need to install cabling for the gripper, please follow the following steps:• Mountthecablesonthebaseplateorframe,neartheturningpointfromtheprimaryarmonthegearbox• Mountthecablesontheprimaryarm,withty-rapsorclampingparts• keepabigloopatthehingepointfromtheprimaryandsecondaryarm• Mountthecablesonthesecondaryarm,withty-rapsorclampingparts• keepabigloopfromthelowestmountingpointatthesecondaryarmtilltheconnectiononthegripper

3.3 Software designThe arm lengths and pitch circles of the rotation points are shown in the below picture.

Upper arm length320 mm

Lower arm length850 mm

Lower arm rotation pointscircle diameter 100 mm

Upper arm rotation pointscircle diameter 400 mm

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3.3.1 Dimensions and limits

Description Value

Negative software limit -47º

Positive software limit 99º

tb-z(topbaseplatetozeroposition) 270 mm

z-tw(zeropositiontotopworkarea) 645 mm

Top mounting bracket

Top work area

Tb-z

Z-tw

0°

Pos. °

Neg.°

Primary arm

Revision history

amanualrevisioncodeappearsasasuffixtothecatalognumberonthefrontcovermanual.

Cat. No. I199E-EN-01

Revision code

The following table outlines the changes made to the manual during each revision.

Revision code Date Description

01 May 2015 Original production

Cat. No. I199E-EN-01 Note: Specifications subject to change without notice.

Authorized Distributor:

Printed in Europe